CL4-E CANopen/USB/ModbusRTU Online Manual

6074h Torque Demand

Function

Current torque set value requested by the ramp generator in tenths of a percent of the rated torque for the internal controller.

Object description

Index 6074h
Object name Torque Demand
Object Code VARIABLE
Data type INTEGER16
Savable no
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 0000h
Firmware version FIR-v1426
Change history

Description

This object is calculated as thousandths of the torque, e.g., the value "500" means "50%" of the rated torque; "1100" is equivalent to 110%. The rated torque corresponds to the rated current in object 203Bh:01.

The minimum of 6073h and 6072h is used as limit for the torque in 6071h.

The target torque may not exceed the peak torque (proportional to the maximum motor current in 2031h).

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